Read Grasp Pose Information

Function: Reads a point cloud file containing grasp pose information, typically data saved by the generic data save node.

Input Parameters:

Name	Type	Valid Range	Default Value	Meaning
Empty Input	String	None	Mapping needs to be checked to run this node and subsequent nodes when executing the graph.	To run this node and subsequent nodes when the diagram is run, check at least one input map for this node.

Name

Type

Valid Range

Default Value

Meaning

Empty Input

String

None

Mapping needs to be checked to run this node and subsequent nodes when executing the graph.

To run this node and subsequent nodes when the diagram is run, check at least one input map for this node.

Output Parameters:

Name	Type	Valid Range	Default Value	Meaning
Grasp Pose Information	PosesList	None	[]	List of grasp object poses.

Name

Type

Valid Range

Default Value

Meaning

Grasp Pose Information

PosesList

None

[]

List of grasp object poses.

Parameter Settings:

Name	Type	Valid Range	Default Value	Meaning
Read Folder	Bool	None	False	Whether to read from a folder.
Grasp Pose File	String	Folder path containing one or more .json format grasp pose files. Please ensure the data under the path is in the specified format, otherwise the result may be empty.	None	File path of grasp pose file in .json format.
Read Folder Strategy	String	['Sequential Loop Reading', 'Merge After Reading All Files']	Sequential Loop Reading	Read folder strategy: Sequential loop reading means reading all files under the current folder in order, reading a different file each run. Merge after reading all files means reading all files under the current folder at once and then merging the results.

Name

Type

Valid Range

Default Value

Meaning

Read Folder

Bool

None

False

Whether to read from a folder.

Grasp Pose File

String

Folder path containing one or more .json format grasp pose files. Please ensure the data under the path is in the specified format, otherwise the result may be empty.

None

File path of grasp pose file in .json format.

Read Folder Strategy

String

['Sequential Loop Reading', 'Merge After Reading All Files']

Sequential Loop Reading

Read folder strategy: Sequential loop reading means reading all files under the current folder in order, reading a different file each run. Merge after reading all files means reading all files under the current folder at once and then merging the results.